com.kuka.roboticsAPI.requestModel
Class GetInverseKinematicsFromReferenceRequest

java.lang.Object
  com.kuka.roboticsAPI.requestModel.AbstractRequest
      com.kuka.roboticsAPI.requestModel.AbstractDeviceRequest
          com.kuka.roboticsAPI.requestModel.GetInverseKinematicsFromReferenceRequest

All Implemented Interfaces:

IDeviceRequest, IRequest

public class GetInverseKinematicsFromReferenceRequest
extends AbstractDeviceRequest

Request for a robot to calculate a inverse kinematics value from reference.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Field Summary

static String	PARAM_FRAME Frame parameter name.
static String	PARAM_JOINTANGLES Joint angles parameter name.
static String	PARAM_QCLOSEST QClosest parameter name.

Constructor Summary

GetInverseKinematicsFromReferenceRequest(Robot robot, ITransformation matrix, JointPosition correspondingJoints)
Creates a new request instance.

Method Summary

JointPosition	getCorrespondingJoints() Gets the optional joint configuration for the given matrix.
Robot	getDevice() The device to which the request is issued.
JointPosition	getResult() Gets the result of the request.
Transformation	getTransformation() Gets the matrix whose position should be transformed into a joint position.
void	setResult(JointPosition result) Sets the result for this request.

Methods inherited from class com.kuka.roboticsAPI.requestModel.AbstractRequest

hasResult, toString

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface com.kuka.roboticsAPI.requestModel.IRequest

hasResult

Field Detail

PARAM_QCLOSEST

public static final String PARAM_QCLOSEST

QClosest parameter name.

See Also:

Constant Field Values

PARAM_JOINTANGLES

public static final String PARAM_JOINTANGLES

Joint angles parameter name.

See Also:

Constant Field Values

PARAM_FRAME

public static final String PARAM_FRAME

Frame parameter name.

See Also:

Constant Field Values

Constructor Detail

GetInverseKinematicsFromReferenceRequest

public GetInverseKinematicsFromReferenceRequest(Robot robot,
                                                ITransformation matrix,
                                                JointPosition correspondingJoints)

Creates a new request instance.

Parameters:

robot - The robot to which this request is issued.

matrix - The matrix which should be calculated.

correspondingJoints - The optional joint configuration.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

Method Detail

getDevice

public Robot getDevice()

The device to which the request is issued.

Specified by:

getDevice in interface IDeviceRequest

Overrides:

getDevice in class AbstractDeviceRequest

Returns:

The device to which the request is issued.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

setResult

public void setResult(JointPosition result)

Sets the result for this request.

Parameters:

result - The result for this request.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getResult

public JointPosition getResult()

Gets the result of the request.

Returns:

The result of the request.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getTransformation

public Transformation getTransformation()

Gets the matrix whose position should be transformed into a joint position.

Returns:

The matrix whose position should be transformed into a joint position.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.

getCorrespondingJoints

public JointPosition getCorrespondingJoints()

Gets the optional joint configuration for the given matrix.

Returns:

The optional joint configuration for the given matrix.

This element is an undocumented internal feature. It is not intended to be used by applications as it might change or be removed in future versions.